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对齐场地几何与运行模式基础设施

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jjh
2026-04-02 11:50:35 +08:00
parent 4b9d5afbb6
commit 3d1fc285d3
7 changed files with 243 additions and 91 deletions
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251
world/commons/field.py
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@@ -1,62 +1,229 @@
from abc import ABC, abstractmethod
from typing_extensions import override
from __future__ import annotations
from abc import ABC
from typing import Literal
import numpy as np
from world.commons.field_landmarks import FieldLandmarks
GoalSide = Literal["our", "their", "left", "right"]
Bounds2D = tuple[float, float, float, float]
class Field(ABC):
FIELD_DIM: tuple[float, float, float]
LINE_WIDTH: float
GOAL_DIM: tuple[float, float, float]
GOALIE_AREA_DIM: tuple[float, float]
PENALTY_AREA_DIM: tuple[float, float] | None
PENALTY_SPOT_DISTANCE: float
CENTER_CIRCLE_RADIUS: float
DEFAULT_BEAM_POSES: dict[int, tuple[float, float, float]]
def __init__(self, world):
from world.world import World # type hinting
self.world: World = world
self.field_landmarks: FieldLandmarks = FieldLandmarks(world=self.world)
self.field_landmarks: FieldLandmarks = FieldLandmarks(field=self)
def get_our_goal_position(self):
return (-self.get_length() / 2, 0)
def _resolve_side(self, side: GoalSide) -> Literal["left", "right"]:
if side in ("our", "left"):
return "left"
if side in ("their", "right"):
return "right"
raise ValueError(f"Unknown field side: {side}")
def get_their_goal_position(self):
return (self.get_length() / 2, 0)
def get_width(self) -> float:
return self.FIELD_DIM[1]
@abstractmethod
def get_width(self):
raise NotImplementedError()
def get_length(self) -> float:
return self.FIELD_DIM[0]
@abstractmethod
def get_length(self):
raise NotImplementedError()
def get_goal_dim(self) -> tuple[float, float, float]:
return self.GOAL_DIM
def get_goal_half_width(self) -> float:
return self.GOAL_DIM[1] / 2.0
def get_center_circle_radius(self) -> float:
return self.CENTER_CIRCLE_RADIUS
def get_goal_position(self, side: GoalSide = "our") -> tuple[float, float]:
resolved_side = self._resolve_side(side)
x = -self.get_length() / 2.0 if resolved_side == "left" else self.get_length() / 2.0
return (x, 0.0)
def get_our_goal_position(self) -> tuple[float, float]:
return self.get_goal_position("our")
def get_their_goal_position(self) -> tuple[float, float]:
return self.get_goal_position("their")
def _build_box_bounds(self, depth: float, width: float, side: GoalSide) -> Bounds2D:
resolved_side = self._resolve_side(side)
field_half_x = self.get_length() / 2.0
half_width = width / 2.0
if resolved_side == "left":
return (-field_half_x, -field_half_x + depth, -half_width, half_width)
return (field_half_x - depth, field_half_x, -half_width, half_width)
def get_goalie_area_bounds(self, side: GoalSide = "our") -> Bounds2D:
return self._build_box_bounds(
depth=self.GOALIE_AREA_DIM[0],
width=self.GOALIE_AREA_DIM[1],
side=side,
)
def get_penalty_area_bounds(self, side: GoalSide = "our") -> Bounds2D:
if self.PENALTY_AREA_DIM is None:
raise ValueError(f"{type(self).__name__} does not define a penalty area")
return self._build_box_bounds(
depth=self.PENALTY_AREA_DIM[0],
width=self.PENALTY_AREA_DIM[1],
side=side,
)
def get_penalty_spot(self, side: GoalSide = "our") -> tuple[float, float]:
resolved_side = self._resolve_side(side)
x = (self.get_length() / 2.0) - self.PENALTY_SPOT_DISTANCE
return (-x, 0.0) if resolved_side == "left" else (x, 0.0)
def _is_inside_bounds(self, pos2d: np.ndarray | tuple[float, float], bounds: Bounds2D) -> bool:
x, y = float(pos2d[0]), float(pos2d[1])
min_x, max_x, min_y, max_y = bounds
return min_x <= x <= max_x and min_y <= y <= max_y
def is_inside_goalie_area(
self, pos2d: np.ndarray | tuple[float, float], side: GoalSide = "our"
) -> bool:
return self._is_inside_bounds(pos2d, self.get_goalie_area_bounds(side))
def is_inside_penalty_area(
self, pos2d: np.ndarray | tuple[float, float], side: GoalSide = "our"
) -> bool:
return self._is_inside_bounds(pos2d, self.get_penalty_area_bounds(side))
def is_inside_field(self, pos2d: np.ndarray | tuple[float, float]) -> bool:
field_half_x = self.get_length() / 2.0
field_half_y = self.get_width() / 2.0
return self._is_inside_bounds(pos2d, (-field_half_x, field_half_x, -field_half_y, field_half_y))
def get_beam_pose(self, number: int) -> tuple[float, float, float]:
try:
return self.DEFAULT_BEAM_POSES[number]
except KeyError as exc:
raise KeyError(f"No beam pose configured for player {number} on {type(self).__name__}") from exc
def get_default_beam_poses(self) -> dict[int, tuple[float, float, float]]:
return dict(self.DEFAULT_BEAM_POSES)
def get_canonical_landmarks(self) -> dict[str, np.ndarray]:
field_half_x = self.get_length() / 2.0
field_half_y = self.get_width() / 2.0
goal_half_y = self.get_goal_half_width()
penalty_marker_x = field_half_x - self.PENALTY_SPOT_DISTANCE
goalie_area_x = field_half_x - self.GOALIE_AREA_DIM[0]
goalie_marker_y = self.GOALIE_AREA_DIM[1] / 2.0
landmarks = {
"l_luf": np.array([-field_half_x, field_half_y, 0.0]),
"l_llf": np.array([-field_half_x, -field_half_y, 0.0]),
"l_ruf": np.array([field_half_x, field_half_y, 0.0]),
"l_rlf": np.array([field_half_x, -field_half_y, 0.0]),
"t_cuf": np.array([0.0, field_half_y, 0.0]),
"t_clf": np.array([0.0, -field_half_y, 0.0]),
"x_cuc": np.array([0.0, self.CENTER_CIRCLE_RADIUS, 0.0]),
"x_clc": np.array([0.0, -self.CENTER_CIRCLE_RADIUS, 0.0]),
"p_lpm": np.array([-penalty_marker_x, 0.0, 0.0]),
"p_rpm": np.array([penalty_marker_x, 0.0, 0.0]),
"g_lup": np.array([-field_half_x, goal_half_y, self.GOAL_DIM[2]]),
"g_llp": np.array([-field_half_x, -goal_half_y, self.GOAL_DIM[2]]),
"g_rup": np.array([field_half_x, goal_half_y, self.GOAL_DIM[2]]),
"g_rlp": np.array([field_half_x, -goal_half_y, self.GOAL_DIM[2]]),
"l_luga": np.array([-goalie_area_x, goalie_marker_y, 0.0]),
"l_llga": np.array([-goalie_area_x, -goalie_marker_y, 0.0]),
"l_ruga": np.array([goalie_area_x, goalie_marker_y, 0.0]),
"l_rlga": np.array([goalie_area_x, -goalie_marker_y, 0.0]),
"t_luga": np.array([-field_half_x, goalie_marker_y, 0.0]),
"t_llga": np.array([-field_half_x, -goalie_marker_y, 0.0]),
"t_ruga": np.array([field_half_x, goalie_marker_y, 0.0]),
"t_rlga": np.array([field_half_x, -goalie_marker_y, 0.0]),
}
if self.PENALTY_AREA_DIM is not None:
penalty_area_x = field_half_x - self.PENALTY_AREA_DIM[0]
penalty_marker_y = self.PENALTY_AREA_DIM[1] / 2.0
landmarks.update(
{
"l_lupa": np.array([-penalty_area_x, penalty_marker_y, 0.0]),
"l_llpa": np.array([-penalty_area_x, -penalty_marker_y, 0.0]),
"l_rupa": np.array([penalty_area_x, penalty_marker_y, 0.0]),
"l_rlpa": np.array([penalty_area_x, -penalty_marker_y, 0.0]),
"t_lupa": np.array([-field_half_x, penalty_marker_y, 0.0]),
"t_llpa": np.array([-field_half_x, -penalty_marker_y, 0.0]),
"t_rupa": np.array([field_half_x, penalty_marker_y, 0.0]),
"t_rlpa": np.array([field_half_x, -penalty_marker_y, 0.0]),
}
)
return landmarks
class FIFAField(Field):
def __init__(self, world):
super().__init__(world)
@override
def get_width(self):
return 68
@override
def get_length(self):
return 105
FIELD_DIM = (105.0, 68.0, 40.0)
LINE_WIDTH = 0.1
GOAL_DIM = (1.6, 7.32, 2.44)
GOALIE_AREA_DIM = (5.5, 18.32)
PENALTY_AREA_DIM = (16.5, 40.32)
PENALTY_SPOT_DISTANCE = 11.0
CENTER_CIRCLE_RADIUS = 9.15
DEFAULT_BEAM_POSES = {
1: (2.1, 0.0, 0.0),
2: (22.0, 12.0, 0.0),
3: (22.0, 4.0, 0.0),
4: (22.0, -4.0, 0.0),
5: (22.0, -12.0, 0.0),
6: (15.0, 0.0, 0.0),
7: (4.0, 16.0, 0.0),
8: (11.0, 6.0, 0.0),
9: (11.0, -6.0, 0.0),
10: (4.0, -16.0, 0.0),
11: (7.0, 0.0, 0.0),
}
class HLAdultField(Field):
def __init__(self, world):
super().__init__(world)
FIELD_DIM = (14.0, 9.0, 40.0)
LINE_WIDTH = 0.05
GOAL_DIM = (0.6, 2.6, 1.8)
GOALIE_AREA_DIM = (1.0, 4.0)
PENALTY_AREA_DIM = (3.0, 6.0)
PENALTY_SPOT_DISTANCE = 2.1
CENTER_CIRCLE_RADIUS = 1.5
DEFAULT_BEAM_POSES = {
1: (5.5, 0.0, 0.0),
2: (2.0, -1.5, 0.0),
3: (2.0, 1.5, 0.0),
}
@override
def get_width(self):
return 9
@override
def get_length(self):
return 14
class Soccer7vs7Field(Field):
def __init__(self, world):
super().__init__(world)
@override
def get_width(self):
return 36
@override
def get_length(self):
return 55
FIELD_DIM = (55.0, 36.0, 40.0)
LINE_WIDTH = 0.1
GOAL_DIM = (0.84, 3.9, 2.44)
GOALIE_AREA_DIM = (2.9, 9.6)
PENALTY_AREA_DIM = (8.6, 21.3)
PENALTY_SPOT_DISTANCE = 5.8
CENTER_CIRCLE_RADIUS = 4.79
DEFAULT_BEAM_POSES = {
1: (2.0, 0.0, 0.0),
2: (12.0, 8.0, 0.0),
3: (13.5, 0.0, 0.0),
4: (12.0, -8.0, 0.0),
5: (7.0, 9.5, 0.0),
6: (4.5, 0.0, 0.0),
7: (7.0, -9.5, 0.0),
}